Congrats on getting that far into WILD, and welcome to the forum!
You DIDN'T have a lucid dream, if you did, you would've been completly conscoius, and would of had remembered it all. You simply fell asleep The vibrations you felt are essential. I know what you mean, you have this feeling that you only sometimes are able to recall in life, and bam it happens right there, and you're conscious, feels great ..
The images you saw under your eyelids were called HI, you usually get them after your body goes 'numb' I dont want to say sleep paralysis because I know what you mean, your body feels heavy and you can move it if you want to.. thus NUMB! 
If you would of had stayed conscious past those images in your eyes (I get little flashing dots usually) you would have eventaully entered your dream.
It's odd though, that you didn't go through the spinning around in mid air stage.. I thought everyone had to go through that
So basically:
1. numbness
2. sensations
3. spinning in midair (optional)
4. HI (lights)
5. Dream
Somtimes after the spinning in midair, you open your eyes, and you have a FA (false awakening) where you're lucid, but it looks like you just woke up.. best to do reality checks at this point 
Hope that helps, good luck
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